18 #ifndef HPP_RBPRM_STEERING_METHOD_KINODYNAMIC_HH
19 #define HPP_RBPRM_STEERING_METHOD_KINODYNAMIC_HH
22 #include <hpp/core/steering-method/steering-kinodynamic.hh>
28 using core::ConfigurationIn_t;
37 core::PathPtr_t
operator()(core::ConfigurationIn_t q1,
const core::NodePtr_t x) {
39 return impl_compute(q1, x);
40 }
catch (
const core::projection_error& e) {
41 hppDout(info,
"Could not build path: " << e.what());
43 return core::PathPtr_t();
46 core::PathPtr_t
operator()(
const core::NodePtr_t x, core::ConfigurationIn_t q2) {
48 return impl_compute(x, q2);
49 }
catch (
const core::projection_error& e) {
50 hppDout(info,
"Could not build path: " << e.what());
52 return core::PathPtr_t();
71 virtual core::SteeringMethodPtr_t
copy()
const {
return createCopy(weak_.lock()); }
74 virtual core::PathPtr_t impl_compute(core::ConfigurationIn_t q1, core::ConfigurationIn_t q2)
const;
76 core::PathPtr_t impl_compute(core::NodePtr_t x, core::ConfigurationIn_t q2);
78 core::PathPtr_t impl_compute(core::ConfigurationIn_t q1, core::NodePtr_t x);
95 void init(SteeringMethodKinodynamicWkPtr_t weak) {
96 core::SteeringMethod::init(weak);
106 core::PathPtr_t computeDirection(
const core::ConfigurationIn_t from,
const core::ConfigurationIn_t to,
bool reverse);
116 core::PathPtr_t setSteeringMethodBounds(
const core::RbprmNodePtr_t& near,
const core::ConfigurationIn_t target,
120 core::DeviceWkPtr_t device_;
122 centroidal_dynamics::Equilibrium* sEq_;
123 bool boundsUpToDate_;
124 SteeringMethodKinodynamicWkPtr_t weak_;
130 #endif // HPP_RBPRM_STEERING_METHOD_KINODYNAMIC_HH